
The setup in this study followed recent experiments with the TacTip biomimetic optical tactile sensor [1]}, [2]}, [3]}, [4]} where it is mounted as an end effector on a robot arm (Fig. REF ). The TacTip is biomimetic in that its skin morphology is based on the layered dermal and epidermal structure of the human fingertip [5]}, [6]}; the tactile sensor measures the shear displacement of an array of papillae pins on the inner side of the sensing surface caused by the skin deformation.
